Reactive algorithms for grasping using a modified Parallel Jaw Gripper

M. Teichmann, B. Mishra

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

We consider the problem of grasping an unknown polygonal flat object using a parallel jaw gripper. Here we propose to equip a standard gripper with several light-beam sensors (close to each jaw) and describe a reactive grasping algorithm. This is done by probing the object to locate a good grasp position, and then grasping, without moving the object significantly. The goal is to do as little motion as possible to find a grasp. This algorithm can be viewed in a competitive framework, where our algorithm is competing against any algorithm which already knows the object.

Original languageEnglish (US)
Title of host publicationProceedings - IEEE International Conference on Robotics and Automation
Editors Anon
PublisherPubl by IEEE
Pages1931-1936
Number of pages6
Editionpt 3
ISBN (Print)0818653329
StatePublished - 1994
EventProceedings of the 1994 IEEE International Conference on Robotics and Automation. Part 3 (of 4) - San Diego, CA, USA
Duration: May 8 1994May 13 1994

Publication series

NameProceedings - IEEE International Conference on Robotics and Automation
Numberpt 3
ISSN (Print)1050-4729

Other

OtherProceedings of the 1994 IEEE International Conference on Robotics and Automation. Part 3 (of 4)
CitySan Diego, CA, USA
Period5/8/945/13/94

ASJC Scopus subject areas

  • Software
  • Control and Systems Engineering
  • Artificial Intelligence
  • Electrical and Electronic Engineering

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  • Cite this

    Teichmann, M., & Mishra, B. (1994). Reactive algorithms for grasping using a modified Parallel Jaw Gripper. In Anon (Ed.), Proceedings - IEEE International Conference on Robotics and Automation (pt 3 ed., pp. 1931-1936). (Proceedings - IEEE International Conference on Robotics and Automation; No. pt 3). Publ by IEEE.